From c9a673a9a5403ad8df5bbecf92ef35df661bfbfa Mon Sep 17 00:00:00 2001 From: "liam.jemmeson" Date: Thu, 20 Jun 2024 11:12:01 +0900 Subject: [PATCH] Added ftd_sensor to individual params --- .../ftd_sensor_kit/imu_corrector.param.yaml | 8 ++++++++ .../ftd_sensor_kit/sensor_kit_calibration.yaml | 15 +++++++++++++++ .../ftd_sensor_kit/sensors_calibration.yaml | 9 +++++++++ 3 files changed, 32 insertions(+) create mode 100644 individual_params/config/default/ftd_sensor_kit/imu_corrector.param.yaml create mode 100644 individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml create mode 100644 individual_params/config/default/ftd_sensor_kit/sensors_calibration.yaml diff --git a/individual_params/config/default/ftd_sensor_kit/imu_corrector.param.yaml b/individual_params/config/default/ftd_sensor_kit/imu_corrector.param.yaml new file mode 100644 index 0000000..55aa40e --- /dev/null +++ b/individual_params/config/default/ftd_sensor_kit/imu_corrector.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + angular_velocity_stddev_xx: 0.00339 + angular_velocity_stddev_yy: 0.00339 + angular_velocity_stddev_zz: 0.00339 + angular_velocity_offset_x: -0.005799 + angular_velocity_offset_y: -0.007148 + angular_velocity_offset_z: -0.001499 diff --git a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml new file mode 100644 index 0000000..4ff0cbd --- /dev/null +++ b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml @@ -0,0 +1,15 @@ +sensor_kit_base_link: + hesai_top_base_link: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + tamagawa/imu_link: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 3.14159265359 + pitch: 0.0 + yaw: 3.14159265359 \ No newline at end of file diff --git a/individual_params/config/default/ftd_sensor_kit/sensors_calibration.yaml b/individual_params/config/default/ftd_sensor_kit/sensors_calibration.yaml new file mode 100644 index 0000000..ab6dea5 --- /dev/null +++ b/individual_params/config/default/ftd_sensor_kit/sensors_calibration.yaml @@ -0,0 +1,9 @@ +base_link: + sensor_kit_base_link: + x: 1.01 + y: 0.0 + z: 0.93 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + \ No newline at end of file